/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_COMMON__TEMP__DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORBIT_VIEW_CONTROLLER_HPP_
#define RVIZ_COMMON__TEMP__DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORBIT_VIEW_CONTROLLER_HPP_

#include <OgreVector3.h>

#include <QCursor>

#include "rviz_common/frame_position_tracking_view_controller.hpp"

namespace rviz_rendering
{
class Shape;
}  // namespace rviz_rendering

namespace rviz_common
{
namespace properties
{
class BoolProperty;
class FloatProperty;
class VectorProperty;
}  // namespace properties
class SceneNode;
}  // namespace rviz_common

namespace rviz_default_plugins
{

/**
 * \brief An orbital camera, controlled by yaw, pitch, distance, and focal point
 *
 * This camera is based on the equation of a sphere in spherical coordinates:
 @verbatim
 x = d*cos(theta)sin(phi)
 y = d*cos(phi)
 z = d*sin(theta)sin(phi)
 @endverbatim
 * Where:<br>
 * d = #distance_<br>
 * theta = #yaw_<br>
 * phi = #pitch_
 */
class OrbitViewController : public rviz_common::FramePositionTrackingViewController
{
  Q_OBJECT

public:
  OrbitViewController();
  virtual ~OrbitViewController();

  /** @brief Do subclass-specific initialization.  Called by
   * ViewController::initialize after context_, target_scene_node_,
   * and camera_ are set. */
  virtual void onInitialize();

  /**
   * \brief Move in/out from the focal point, ie. adjust #distance_ by amount
   * @param amount The distance to move.  Positive amount moves towards the focal point,
   * negative moves away
   */
  void zoom(float amount);
  void yaw(float angle);
  void pitch(float angle);
  void move(float x, float y, float z);   // NOLINT linter wants #include <utility> for move

  virtual void handleMouseEvent(rviz_common::ViewportMouseEvent & evt);

  virtual void lookAt(const Ogre::Vector3 & point);

  virtual void reset();

  /** @brief Configure the settings of this view controller to give,
   * as much as possible, a similar view as that given by the
   * @a source_view.
   *
   * @a source_view must return a valid @c Ogre::Camera* from getCamera(). */
  virtual void mimic(ViewController * source_view);

protected:
  virtual void update(float dt, float ros_dt);
  virtual void onTargetFrameChanged(
    const Ogre::Vector3 & old_reference_position,
    const Ogre::Quaternion & old_reference_orientation);

  /**
   * \brief Calculates pitch and yaw values given a new position and the current focal point
   * @param position Position to calculate the pitch/yaw for
   */
  void calculatePitchYawFromPosition(const Ogre::Vector3 & position);

  /**
   * \brief Calculates the focal shape size and update it's geometry
   */
  void updateFocalShapeSize();

  virtual void updateCamera();

  rviz_common::properties::FloatProperty * yaw_property_;  ///< The camera's yaw (rotation
///< around the y-axis), in radians
  rviz_common::properties::FloatProperty * pitch_property_;  ///< The camera's pitch (rotation
///< around the x-axis), in radians
  rviz_common::properties::FloatProperty * distance_property_;  ///< The camera's distance
///< from the focal point
  rviz_common::properties::VectorProperty * focal_point_property_;  ///< The point around
///< which the camera "orbits".
  rviz_common::properties::BoolProperty * focal_shape_fixed_size_property_;  ///< Whether
///< the focal shape size is fixed or not
  rviz_common::properties::FloatProperty * focal_shape_size_property_;  ///< The focal shape size

  rviz_rendering::Shape * focal_shape_;
  bool dragging_;
};

}  // namespace rviz_default_plugins

#endif  // RVIZ_COMMON__TEMP__DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORBIT_VIEW_CONTROLLER_HPP_
